function obj = mon_J_pure_hand_eye_func_new(in1,in2)
q0 = in1(1,:);
q1 = in1(2,:);
q2 = in1(3,:);
q3 = in1(4,:);
t1 = in2(1,:);
t2 = in2(2,:);
t3 = in2(3,:);
t5 = q0.^2;
t6 = q0.^3;
t7 = q1.^2;
t8 = q1.^3;
t9 = q2.^2;
t10 = q2.^3;
t11 = q3.^2;
t12 = q3.^3;
mt1 = [t5.^2,q1.*t6,q2.*t6,q3.*t6,t5.*t7,q1.*q2.*t5,q1.*q3.*t5,t5.*t9,q2.*q3.*t5,t5.*t11,t1.*t5,t2.*t5,t3.*t5,t5,q0.*t8,q0.*q2.*t7,q0.*q3.*t7,q0.*q1.*t9,q0.*q1.*q2.*q3,q0.*q1.*t11,q0.*q1.*t1,q0.*q1.*t2,q0.*q1.*t3,q0.*q1,q0.*t10,q0.*q3.*t9,q0.*q2.*t11,q0.*q2.*t1,q0.*q2.*t2,q0.*q2.*t3,q0.*q2,q0.*t12,q0.*q3.*t1,q0.*q3.*t2,q0.*q3.*t3,q0.*q3,t7.^2,q2.*t8,q3.*t8,t7.*t9,q2.*q3.*t7,t7.*t11,t1.*t7,t2.*t7,t3.*t7,t7,q1.*t10,q1.*q3.*t9,q1.*q2.*t11,q1.*q2.*t1,q1.*q2.*t2,q1.*q2.*t3,q1.*q2,q1.*t12,q1.*q3.*t1,q1.*q3.*t2,q1.*q3.*t3,q1.*q3];
mt2 = [t9.^2,q3.*t10,t9.*t11,t1.*t9,t2.*t9,t3.*t9,t9,q2.*t12,q2.*q3.*t1,q2.*q3.*t2,q2.*q3.*t3,q2.*q3,t11.^2,t1.*t11,t2.*t11,t3.*t11,t11,t1.^2,t1.*t2,t1.*t3,t1,t2.^2,t2.*t3,t2,t3.^2,t3,1.0];
obj = [mt1,mt2];
end
